CN113735044A - Bottled milk tea drink robot on-site blending and filling production system - Google Patents
Bottled milk tea drink robot on-site blending and filling production system Download PDFInfo
- Publication number
- CN113735044A CN113735044A CN202111053829.4A CN202111053829A CN113735044A CN 113735044 A CN113735044 A CN 113735044A CN 202111053829 A CN202111053829 A CN 202111053829A CN 113735044 A CN113735044 A CN 113735044A
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- Prior art keywords
- bottle
- fixed
- bottle cap
- driving mechanism
- lifting
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Links
- 238000002156 mixing Methods 0.000 title claims abstract description 30
- 239000008267 milk Substances 0.000 title claims abstract description 24
- 210000004080 milk Anatomy 0.000 title claims abstract description 24
- 235000013336 milk Nutrition 0.000 title claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 17
- 241001122767 Theaceae Species 0.000 title abstract description 14
- 235000013616 tea Nutrition 0.000 claims abstract description 35
- 235000013361 beverage Nutrition 0.000 claims abstract description 33
- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 24
- 235000019640 taste Nutrition 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 claims description 13
- 238000002360 preparation method Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 235000020124 milk-based beverage Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 235000015067 sauces Nutrition 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/24—Devices for supporting or handling bottles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
- A47J31/441—Warming devices or supports for beverage containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
- B67B3/204—Linear-type capping machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
- G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
- G01G17/06—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes having means for controlling the supply or discharge
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Thermal Sciences (AREA)
- General Physics & Mathematics (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
Abstract
The invention discloses a bottled milky tea beverage robot on-site blending and filling production system, which comprises a rack, wherein the rack comprises a beverage blending platform, a placing rack for placing seasoning bottles with various tastes and a positioning structure for positioning and placing a plurality of bottle bodies and a plurality of bottle caps, the beverage blending platform is provided with a region to be put in and an industrial robot, and the industrial robot is provided with a pneumatic clamping jaw; the bottle cap screwing device comprises a support frame fixed on the beverage blending platform, a first lifting driving mechanism, a rotary driving mechanism and a bottle cap grabbing paw, and a lifting block is arranged on the support frame in a sliding mode; the first lifting driving mechanism is fixed at the top end of the support frame, and the end part of a telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block; the rotary driving mechanism is arranged on the lifting block, and the bottle cap grabbing paw is arranged on the rotary driving mechanism; the labor cost of the business of the milk tea shop is reduced, and the milk tea blending and filling efficiency is higher.
Description
Technical Field
The invention relates to the technical field of automatic beverage blending, in particular to a bottled milk tea beverage robot on-site blending and filling production system.
Background
The milk tea has double nutrition of milk and tea, is one of the common food, and is popular in the world. However, at present, after the variety, taste and sugar content of the milk tea beverage to be drunk are selected in a milk tea shop, the milk tea beverage is manually blended and filled to obtain corresponding milk tea for sale, however, the manual blending and filling efficiency is low, and more professional blending workers need to be hired, so that the operation cost of the milk tea shop is increased.
Disclosure of Invention
The invention aims to solve the technical defects and provides a bottled milky tea beverage robot on-site blending and filling production system which has the following specific structure.
The invention relates to a bottled milky tea beverage robot on-site blending and filling production system, which comprises a beverage preparation device and a bottle cap screwing device;
the beverage preparation device comprises a rack, wherein the rack comprises a beverage preparation platform, a placing rack for placing seasoning bottles with various tastes and a positioning structure for positioning and placing a plurality of bottle bodies and bottle caps, the beverage preparation platform is provided with a region to be put in and an industrial robot, and the industrial robot is provided with a pneumatic clamping jaw;
the bottle cap screwing device comprises a support frame fixed on the beverage blending platform, a first lifting driving mechanism, a rotary driving mechanism and a bottle cap grabbing paw, and a lifting block is arranged on the support frame in a sliding mode; the first lifting driving mechanism is fixed at the top end of the support frame, and the end part of a telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block; the rotary driving mechanism is arranged on the lifting block, and the bottle cap grabbing paw is arranged on the rotary driving mechanism;
the industrial robot drives the pneumatic clamping jaws to move, so that the pneumatic clamping jaws clamp the bottle body and then convey the bottle body to a region to be put in, and the pneumatic clamping jaws release the bottle body;
the industrial robot enables the pneumatic clamping jaws to act according to a preset multi-taste seasoning bottle grabbing program, each seasoning bottle on the placing rack is grabbed and placed into the cup body of the to-be-placed area in sequence, and after the placement is finished, the seasoning bottles are placed in the original positions;
the bottle cap is grabbed and conveyed to the bottle cap grabbing claw by the action of the pneumatic clamping jaws of the industrial robot, the bottle cap grabbing claw clamps the bottle cap, and the pneumatic clamping jaws release the bottle cap;
the bottle body filled with the prepared milk tea beverage is grabbed by the action of the pneumatic clamping jaws of the industrial robot, the bottle mouth of the bottle body is in butt joint with the bottle cap, then the rotary driving device drives the bottle cap grabbing claw to rotate, and meanwhile, the first lifting mechanism drives the lifting block to descend, so that the bottle cap descends and rotates at the same time, and the bottle cap is screwed and fixed on the bottle mouth of the bottle body.
Preferably, a hollow shaft is arranged on the lifting block in a penetrating mode in a rotating mode, a second lifting driving mechanism is arranged on the part, provided with the hollow shaft, of the lifting block through a support, a pushing shaft is movably arranged in the hollow shaft in a penetrating mode, a rotating joint is fixed at the bottom end of a telescopic rod of the second lifting driving mechanism, a rotating sleeve is fixed on the rotating joint, a first bearing is fixed in an inner hole of the rotating sleeve, and the upper end of the pushing shaft is fixedly connected with an inner ring of the first bearing;
the rotary driving mechanism comprises a gear transmission group and a servo driving motor fixed on the lifting block, a driven gear of the gear transmission group is arranged on the hollow shaft, and a driving gear of the gear transmission group is fixedly sleeved on a rotating shaft of the servo driving motor;
the bottle cap grabbing paw comprises a paw shell fixed at the lower end of the hollow shaft, a connecting disc and at least three jaws arranged in an annular array, wherein each three jaw comprises a connecting part and a grabbing part positioned at the lower end of the connecting part, three elongated holes arranged in an annular array are arranged on the paw shell, a positioning plate is fixed at the lower end of the paw shell and comprises three depressions and positioning center posts which respectively correspond to the positions of the elongated holes, the connecting parts of the three jaws are respectively arranged in the three elongated holes, the middle part of the connecting part is rotationally connected with the inner wall of the elongated hole through a rotating shaft, the lower end of the connecting part is sunk into the recess, the upper ends of the connecting parts of the three claws are obliquely fixed with connecting rods, the lower end of the pushing shaft penetrates through the upper end of the claw shell and then extends into the inner cavity of the claw shell, the lower end of a pushing shaft in the inner cavity is fixedly provided with a connecting disc, the end part of a connecting rod is hinged with a connecting disc pin shaft, and a grabbing part is arranged around a positioning center post.
Preferably, the area to be dosed is provided with an electronic scale for weighing the dispensed beverage.
Preferably, a vertical linear guide rail is fixed on the inner wall of the support frame, a lifting slide block is fixed on a slide block of the vertical linear guide rail, a cylinder body is fixed at the lower end of a telescopic rod of the first lifting driving mechanism, and the lower end of the cylinder body is fixedly connected with the lifting slide block.
Preferably, the lifting device further comprises a second bearing, a through hole is formed in the lifting block, an outer ring of the second bearing is fixed to the inner wall of the through hole, and the hollow shaft is fixed in an inner ring of the second bearing.
Preferably, the top surface of the lifting block is fixed with a mounting frame, one end surface of the servo driving motor, which is provided with a rotating shaft, is fixed on the mounting frame, and the upper end of the pushing shaft penetrates through the mounting frame and then is fixedly connected with the inner ring of the first bearing.
As preferred, location structure includes the locating plate, and in the fixed slot of beverage allotment platform was fixed in to the locating plate, the locating plate included that the district was placed to the bottle and the district is placed to the bottle lid, and the district is placed to the bottle includes a plurality of bottle lid constant head tanks, and the fixed slot of beverage allotment platform is located industrial robot's side to the bottle lid.
Preferably, the placing frame comprises a first step and a second step for placing the seasoning bottles, a plurality of grooves which are arranged in a straight line are formed in the second step and the second step, and the grooves are matched with the seasoning bottles.
Preferably, the top of the rack is fixed with a display screen through a connecting frame.
The robot on-site blending and filling production system for the bottled milk tea beverage, which is designed by the invention, obtains the bottled milk tea beverage by utilizing automatic blending and filling, so that the labor cost of the milk tea store business is reduced, meanwhile, corresponding beverage can be obtained according to the flavoring quantity value set by correspondingly pushing out the sold beverage, the equipment can be placed in places such as a market and the like for sale, and meanwhile, the operating cost of the milk tea store is reduced; and the blending and filling efficiency of the milk tea is higher.
Drawings
FIG. 1 is a schematic diagram of the overall system architecture (one);
FIG. 2 is a schematic diagram of the overall system architecture (two);
FIG. 3 is a schematic diagram of the overall system architecture (III);
FIG. 4 is an enlarged view at A;
fig. 5 is a structural diagram of a bottle cap grabbing paw (I);
fig. 6 is a schematic structural view (two) of the bottle cap grabbing paw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Example (b):
as shown in the drawings, the robot field blending and filling production system for bottled milky tea beverages described in the present embodiment includes a beverage preparation device 6, a bottle cap screwing device 3 and a PLC controller, and the beverage preparation device 6 and the bottle cap screwing device 3 are respectively connected to and controlled by the PLC controller.
The beverage preparation device 6 comprises a rack 1, the rack 1 comprises a beverage preparation platform 11, a placing rack 2 for placing seasoning bottles 400 with various tastes and a positioning structure 5 for positioning and placing a plurality of bottle bodies 100 and bottle caps 200, the beverage preparation platform 11 is provided with a to-be-put area 300 and an industrial robot 4, and the industrial robot 4 is provided with a pneumatic clamping jaw 8; the industrial robot 4 is connected to and controlled by a PLC controller.
The bottle cap screwing device 3 comprises a support frame 31 fixed on the beverage blending platform 11, a first lifting driving mechanism 32, a rotating driving mechanism 33 and a bottle cap grabbing paw 34, wherein a lifting block 35 is arranged on the support frame 31 in a sliding manner; the first lifting driving mechanism 32 is fixed at the top end of the support frame 31, and the end part of a telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block 35; the rotary driving mechanism 33 is arranged on the lifting block 35, and the bottle cap grabbing paw 34 is arranged on the rotary driving mechanism 33; the rotation driving mechanism 33 and the bottle cap grabbing paw 34 are respectively connected with and controlled by a PLC controller, the first lifting driving mechanism 32 adopts a first lifting cylinder, and the first lifting cylinder is connected with and controlled by the PLC controller through an air pump.
According to the working principle, the industrial robot 4 drives the pneumatic clamping jaw 8 to move, so that the pneumatic clamping jaw 8 is used for grabbing the bottle body and then conveying the bottle body to the area 300 to be put in, and the pneumatic clamping jaw 8 releases the bottle body 100; next, the industrial robot 4 makes the pneumatic clamping jaws 8 act according to a preset grabbing program of the seasoning bottles 400 with various tastes, grabs and puts each seasoning bottle 400 on the placing rack 2 into the cup body 100 of the to-be-put-in area 300 in sequence, and places the seasoning bottle 400 in the original position after putting; then, the pneumatic clamping jaws 8 of the industrial robot 4 act to grab and convey the bottle cap 200 to the bottle cap grabbing claws 34, the bottle cap grabbing claws 34 clamp the bottle cap 200, and the pneumatic clamping jaws 8 release the bottle cap 200; finally, the pneumatic clamping jaws 8 of the industrial robot 4 act to grab the bottle 100 filled with the prepared milk tea beverage, and butt the bottle opening of the bottle 100 and the bottle cap 200, then the rotation driving device drives the bottle cap grabbing claws 34 to rotate, and meanwhile, the first lifting mechanism drives the lifting block 35 to descend, so that the bottle cap 200 descends and rotates at the same time, and the bottle cap 200 is screwed and fixed on the bottle opening of the bottle 100.
In this embodiment, a hollow shaft 45 is rotatably inserted into the lifting block 35, a second lifting driving mechanism 37 is installed on the lifting block 35 through a bracket at a position where the hollow shaft 45 is provided, a pushing shaft 36 is movably inserted into the hollow shaft 45, a rotary joint 38 is fixed at the bottom end of a telescopic rod of the second lifting driving mechanism 37, a rotary sleeve 39 is fixed on the rotary joint 38, a first bearing 43 is fixed in an inner hole of the rotary sleeve 39, and the upper end of the pushing shaft 36 is fixedly connected with an inner ring of the first bearing 43; the second lifting driving mechanism 37 adopts a second lifting cylinder 37, and the second lifting cylinder 37 is connected with and controlled by the PLC controller through an air pump.
Further, the rotary driving mechanism 33 includes a gear transmission set and a servo driving motor 331 fixed on the lifting block 35, a driven gear 333 of the gear transmission set is installed on the hollow shaft 45, and a driving gear 332 of the gear transmission set is sleeved and fixed on a rotating shaft of the servo driving motor 331; the servo drive motor 331 is connected to and controlled by the PLC controller.
Preferably, the bottle cap gripping gripper 34 comprises a gripper housing 341 fixed at the lower end of the hollow shaft 45, a connecting plate 348 and at least three annular array-arranged grippers 340, each of the three grippers 340 comprises a connecting portion 342 and a gripping portion 343 located at the lower end of the connecting portion 342, three annular array-arranged elongated holes 347 are arranged on the gripper housing 341, a positioning plate 345 is fixed at the lower end of the gripper housing 341, the positioning plate 345 comprises three recesses 350 and a positioning central column 346 corresponding to the positions of the elongated holes 347, the connecting portions 342 of the three grippers 340 are respectively arranged in the three elongated holes 347, the middle portion of the connecting portion 342 is rotatably connected with the inner walls of the elongated holes 347 through a rotating shaft 349, the lower end of the connecting portion 342 is sunk into the recesses 350, a connecting rod 344 is fixed at the upper end of the connecting portion 342 of the three grippers 340 in an inclined manner, and the lower end of the pushing shaft 36 penetrates through the upper end of the gripper housing 341 and then extends into the inner cavity of the gripper housing 341, a connecting plate 348 is fixed to the lower end of the pushing shaft 36 in the inner cavity, the end of the link 344 is pin-hinged to the connecting plate 348, and the grasping portion 343 is disposed around the positioning center post 346.
In the above description, when the three jaws 340 in the bottle cap grabbing paw 34 do not grab the bottle cap 200, the telescopic rod of the second lifting cylinder 37 descends to drive the connecting disc 348 to descend, so that the connecting rod 344 and the jaws 340 rotate upward at the same time by using the pin hinge of the connecting rod 344 as a rotation point, and the grabbing parts 343 of the three jaws 340 are separated; when the pneumatic clamping jaws 8 of the industrial robot 4 act to grab and convey the bottle cap 200 to the space between the three grabbing parts 343 of the bottle cap grabbing claws 34, the bottle cap 200 is abutted against the lower end of the positioning center post 346 for positioning, then the telescopic rods of the second lifting cylinder 37 lift up to drive the connecting disc 348 to lift up, so that the connecting rod 344 and the clamping jaws 340 rotate downwards by taking the pin shaft hinged parts of the connecting rod 344 as rotating points, the grabbing parts 343 of the three clamping jaws 340 are closed, and the bottle cap 200 is grabbed and positioned; when the bottle cap 200 is placed on the positioning structure 5 with the screwing opening facing upwards, the industrial robot grips and rotates the bottle cap 200 with the screwing opening by the pneumatic clamping jaw 8, so that the bottle cap 200 is conveyed to the space between the three gripping parts 343 with the screwing opening facing downwards.
When the bottle cap 200 with the downward screwing opening is grasped, the bottle body 100 filled with the prepared milk tea beverage is grasped by the action of the pneumatic clamping jaws 8 of the industrial robot 4, the bottle opening of the bottle body 100 is butted with the screwing opening of the bottle cap 200, then the servo driving motor 331 drives the driving gear 332 to rotate, the driven gear 333 rotates, the hollow shaft 45 drives the gripper shell 341 to rotate, the grasped bottle cap 200 is rotated, at the moment, the first lifting cylinder drives the lifting block 35 to descend, the bottle cap 200 descends and rotates at the same time, and the bottle cap 200 is screwed and fixed on the bottle opening of the bottle body 100.
Finally, after the bottled milk tea is filled on the bottle body, the technical effect of automatic packaging is achieved, the working efficiency is improved, and the operation cost of a milk tea shop is reduced.
In this embodiment, an electronic scale 7 is disposed on the dispensing area 300, and the electronic scale 7 is used for weighing the dispensed beverage. The pneumatic clamping jaw 8 of the industrial robot 4 acts to grab the bottle 100 to be filled, the bottle is conveyed to the electronic scale 77, then the weight of the bottle after the beverage is filled and weighed, the real-time filled weight information is transmitted to the PLC controller and then compared with a preset range value, and after the weighed value reaches a set range, the PLC controller controls the industrial robot to stop filling the cruet.
The method further comprises the steps of setting the time for controlling the opening of the sauce bottle 400 to face downwards and the pouring angle of the sauce bottle 400 by the industrial robot 4, determining the amount of the seasoning applied into the drink cup 100, accurately controlling the amount of the seasoning applied into the drink cup 100, reliably controlling the taste of the drink, setting the opening facing downwards time and the pouring angle of the sauce bottle 400 by a program in a PLC controller, and controlling the industrial robot 4 to finish the operation.
In this embodiment, a vertical linear guide 41 is fixed on the inner wall of the supporting frame 31, a lifting slider 42 is fixed on the slider of the vertical linear guide 41, a column 40 is fixed at the lower end of the telescopic rod of the first lifting driving mechanism 32, and the lower end of the column 40 is fixedly connected with the lifting slider 42. The lifting action of the lifting block 35 is more stable and reliable due to the structural arrangement of the lifting block.
In the embodiment, the lifting block 35 further comprises a second bearing 44, a through hole 351 is formed in the lifting block 35, an outer ring of the second bearing 44 is fixed on the inner wall of the through hole 351, and a hollow shaft 45 is fixed in an inner ring of the second bearing 44. The structure of the hollow shaft 45 is compact, and the hollow shaft is stable and reliable in rotation.
In this embodiment, a mounting bracket 46 is fixed on the top surface of the lifting block 35, one end surface of the servo drive motor 331 having a rotation shaft is fixed on the mounting bracket 46, and the upper end of the pushing shaft 36 penetrates through the mounting bracket 46 and is fixedly connected with the inner ring of the first bearing 43. Its structural design is reasonable, promotes performance.
In this embodiment, the positioning structure 5 includes a positioning plate 345, the positioning plate 345 is fixed in the fixing groove 111 of the beverage preparing platform 11, the positioning plate 345 includes a bottle placing region and a bottle cap placing region, the bottle placing region includes a plurality of bottle positioning slots 51, the bottle cap placing region includes a plurality of bottle positioning slots 52, and the fixing groove 111 of the beverage preparing platform 11 is located beside the industrial robot 4. The structure of the bottle cap is convenient for positioning and placing the bottle body and the bottle cap 200, and the use performance is improved.
In this embodiment, a display screen 9 is fixed on the top of the frame 1 through a connecting frame 10, and the display screen 9 is connected with and controlled by the PLC controller, and can display the flavor type of the beverage currently made.
In this embodiment, the rack 2 comprises a first step 21 and a second step 22 for placing the cruet 400, and the second step 22 are both provided with a plurality of grooves 23 arranged in a straight line, and the grooves 23 are matched with the cruet 400. The arrangement of the pneumatic clamping jaw type seasoning bottle clamp increases the placing quantity of the seasoning bottles 400, the pneumatic clamping jaw 8 can grab the seasoning bottles, and meanwhile, the seasoning bottles 400 are placed in the grooves 23, so that the seasoning bottles 400 are reliably positioned.
Finally, the fixation can be realized by bolt fixing or welding according to actual conditions.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.
Claims (9)
1. A bottled milky tea beverage robot on-site blending and filling production system is characterized by comprising a beverage preparation device (6) and a bottle cap screwing device (3);
the beverage preparing device (6) comprises a rack (1), the rack (1) comprises a beverage preparing platform (11), a placing rack (2) for placing seasoning bottles (400) with various tastes and a positioning structure (5) for positioning and placing a plurality of bottle bodies and a plurality of bottle caps (200), the beverage preparing platform (11) is provided with an area (300) to be put in and an industrial robot (4), and the industrial robot (4) is provided with a pneumatic clamping jaw (8);
the bottle cap screwing device (3) comprises a support frame (31) fixed on the beverage blending platform (11), a first lifting driving mechanism (32), a rotary driving mechanism (33) and a bottle cap grabbing paw (34), wherein a lifting block (35) is arranged on the support frame (31) in a sliding mode; the first lifting driving mechanism (32) is fixed at the top end of the support frame (31), and the end part of a telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block (35); the rotary driving mechanism (33) is arranged on the lifting block (35), and the bottle cap grabbing paw (34) is arranged on the rotary driving mechanism (33);
the industrial robot (4) drives the pneumatic clamping jaw (8) to move, so that the pneumatic clamping jaw (8) can grab the bottle and then convey the bottle to a region (300) to be thrown in, and the pneumatic clamping jaw (8) releases the bottle;
the industrial robot (4) enables the pneumatic clamping jaws (8) to act according to a preset grabbing program of the seasoning bottles (400) with various tastes, grabs and puts each seasoning bottle (400) on the placing rack (2) into the cup body (100) of the to-be-put area (300) in sequence, and places the seasoning bottle (400) in the original position after putting is finished;
the bottle cap (200) is grabbed and conveyed to the bottle cap grabbing claw (34) by the action of the pneumatic clamping jaw (8) of the industrial robot (4), the bottle cap grabbing claw (34) clamps the bottle cap (200), and the pneumatic clamping jaw (8) releases the bottle cap (200);
the bottle body (100) filled with the prepared milk tea beverage is grabbed by the action of a pneumatic clamping jaw (8) of the industrial robot (4), the bottle opening of the bottle body (100) is in butt joint with the bottle cap (200), then the bottle cap grabbing claw (34) is driven to rotate by the rotation driving device, meanwhile, the first lifting mechanism drives the lifting block (35) to descend, so that the bottle cap (200) descends and rotates at the same time, and the bottle cap (200) is screwed and fixed on the bottle opening of the bottle body (100).
2. The bottled milky tea beverage robot field blending and filling production system of claim 1, wherein a hollow shaft (45) is rotatably arranged on the lifting block (35) in a penetrating manner, a second lifting driving mechanism (37) is arranged on the part, provided with the hollow shaft (45), of the lifting block (35) through a bracket, a pushing shaft (36) is movably arranged in the hollow shaft (45) in a penetrating manner, a rotary joint (38) is fixed at the bottom end of a telescopic rod of the second lifting driving mechanism (37), a rotary sleeve (39) is fixed on the rotary joint (38), a first bearing (43) is fixed in an inner hole of the rotary sleeve (39), and the upper end of the pushing shaft (36) is fixedly connected with an inner ring of the first bearing (43);
the rotary driving mechanism (33) comprises a gear transmission set and a servo driving motor (331) fixed on the lifting block (35), a driven gear (333) of the gear transmission set is installed on the hollow shaft (45), and a driving gear (332) of the gear transmission set is fixedly connected to a rotating shaft of the servo driving motor (331) in a sleeved mode;
the bottle cap grabbing paw (34) comprises a paw shell (341) fixed at the lower end of a hollow shaft (45), a connecting disc (348) and at least three jaws (340) arranged in an annular array, each of the three jaws (340) comprises a connecting part (342) and a grabbing part (343) positioned at the lower end of the connecting part (342), three elongated holes (347) arranged in an annular array are arranged on the paw shell (341), a positioning plate (345) is fixed at the lower end of the paw shell (341), the positioning plate (345) comprises three depressions (350) and positioning center pillars (346) which respectively correspond to the positions of the elongated holes (347), the connecting parts (342) of the three jaws (340) are respectively arranged in the three elongated holes (347), the middle parts of the connecting parts (342) are rotatably connected with the inner walls of the elongated holes (347) through rotating shafts (349), the lower ends of the connecting parts (342) are sunk into the depressions (350), connecting rods (344) are obliquely fixed at the upper ends of the connecting parts (342) of the three jaws (340), the lower end of the pushing shaft (36) penetrates through the upper end of the paw shell (341) and then extends into the inner cavity of the paw shell (341), a connecting disc (348) is fixed to the lower end of the pushing shaft (36) in the inner cavity, the end of the connecting rod (344) is hinged to the connecting disc (348) through a pin shaft, and the grabbing part (343) is arranged around the positioning central column (346).
3. The robot field blending and filling production system of the bottled milky tea beverage as claimed in claim 1, wherein an electronic scale (7) is arranged on the region (300) to be put in, and the electronic scale (7) is used for weighing the prepared beverage.
4. The bottled milk and tea beverage robot field blending and filling production system according to claim 1 or 2, wherein a vertical linear guide rail (41) is fixed on the inner wall of the support frame (31), a lifting slide block (42) is fixed on a slide block of the vertical linear guide rail (41), a column body (40) is fixed at the lower end of a telescopic rod of the first lifting driving mechanism (32), and the lower end of the column body (40) is fixedly connected with the lifting slide block (42).
5. The bottled milky tea beverage robot on-site blending and filling production system of claim 2, further comprising a second bearing (44), wherein the lifting block (35) is provided with a through hole (351), the outer ring of the second bearing (44) is fixed on the inner wall of the through hole (351), and the hollow shaft (45) is fixed in the inner ring of the second bearing (44).
6. The robot field brewing and filling production system of the bottled milky tea beverage as claimed in claim 2, wherein the top surface of the lifting block (35) is fixed with a mounting frame (46), one end surface of the servo drive motor (331) with a rotating shaft is fixed on the mounting frame (46), and the upper end of the pushing shaft (36) penetrates through the mounting frame (46) and then is fixedly connected with the inner ring of the first bearing (43).
7. The robot site blending and filling production system of the bottled milky tea beverage as claimed in claim 1, wherein the positioning structure (5) comprises a positioning plate (345), the positioning plate (345) is fixed in a fixing groove (111) of the beverage blending platform (11), the positioning plate (345) comprises a bottle body placing area and a bottle cap placing area, the bottle body placing area comprises a plurality of bottle body positioning grooves (51), the bottle cap placing area comprises a plurality of bottle cap positioning grooves (52), and the fixing groove (111) of the beverage blending platform (11) is located beside the industrial robot (4).
8. The robot site blending and filling production system of the bottled milky tea beverage as claimed in claim 1, wherein the rack (2) comprises a first step (21) and a second step (22) for placing the seasoning bottle (400), the second step (22) and the second step (22) are respectively provided with a plurality of grooves (23) which are arranged in a straight line, and the grooves (23) are matched with the seasoning bottle (400).
9. The bottled milky tea beverage robot on-site blending and filling production system according to claim 1, wherein a display screen (9) is fixed on the top of the rack (1) through a connecting frame.
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| WO2022249158A1 (en) * | 2021-05-28 | 2022-12-01 | Groupe Ethical Factory Inc. | Micro factory system for on-demand dispensing of beverages |
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| CN113735044B (en) | 2023-06-20 |
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